The complaint, quadrupedal robot Bobcat is a cheap and easy to produce experimental platformfor dynamic locomotion. With the actuation design based on the Cheetah-Cub, it was developed in BIOROB extending morphology research with an active and compliant spine. The leg design features a 2-segmented compliant leg with an additional springy toe. The width between fore- and hind-shoulders is different to enable overlapping feet (often seen in the fast motion of animals). The spine actuation is achieved with a single RC servomotor, positioned in between fore and hind trunk-segment. Itsmovement range is 35deg in the saggital layer. A fully connected CPG-network resembling the one implemented on Cheetah-cub is used to control the robot. An additional oscillator node expands it for the spine actuation. Electronic hardware and power-supply are the same as in Cheetah-Cub.


Robust Walking Using Peicewise Linear Spring

M. Khoramshahi; A. Asaei; A. Ijspeert; M. Nili Ahmadabadi 

2014. Dynamic Walking 2014, ETH Zurich, Switzerland, June 10-13, 2014.

Piecewise linear spine for speed-energy efficiency trade-off in quadruped robots

M. Khoramshahi; H. J. Bidgoly; S. Shafiee; A. Asaei; A. J. Ijspeert et al. 

Robotics And Autonomous Systems. 2013. Vol. 61, num. 12, p. 1350-1359. DOI : 10.1016/j.robot.2013.08.001.

Use Your Spine! Effect of Active Spine Movements on Horizontal Impulse and Cost of Transport in a Bounding, Quadruped Robot

A. Sprowitz; E. Badri; M. Khoramshahi; A. Tuleu; A. Ijspeert 

2013. Dynamic Walking, Pittsburgh, USA, June, 2013.

Benefits of an Active Spine Supported Bounding Locomotion With a Small Compliant Quadruped Robot

M. Khoramshahi; A. Sprowitz; A. Tuleu; M. N. Ahmadabadi; A. Ijspeert 

2013. 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, May 6 – 10, 2013. p. 3329-3334. DOI : 10.1109/ICRA.2013.6631041.

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